Does anybody remember this cool roadmap?
In November, we were selecting the next DDS implementation for Galactic, and this was one major selling point for CycloneDDS.
This was clearly impossible, but anyway it was used to push cyclone DDS as the default, promising a lot of features publicly to the ROS community. We are now almost reaching the code freeze for Galactic (April 5th), and it is clear is not happening, and now delayed sine die (see this PR).
Fortunately, Fast DDS already has these features in Foxy, and we are delivering all we promised for the Galactic release.